starting angle will determine which direction to traverse, north, south, east or west (see

figure 2.4). This method will determine if there is an unobstructed path between the two

robots.

 The algorithm divides the map into four quadrants. For example, if qcuent is between

0 and 900 (quadrant I) and less than qstat then x, will be incremented by one, indicating a

move due east. Otherwise, y, is incremented by one, indicating a move due north. The

algorithm proceeds in a similar fashion when qcuent is in a different quadrant of the map.

The algorithm is terminated when x, or y, is equal to the x or y position of robot two.

 Another matrix is created that is the same size as the map that contains the line-of-

sight information. A '1' indicates the position of robot 1 and robot 2 in the matrix. If

line-of-sight exists all intermediate points have a value of' 1' in the matrix as well. The

rest of the points have a value of '0'.

 This method is beneficial because it minimizes the number of calculations. Instead of

having to scan all of the points in the map, it is only necessary to check the points

between the two robots in question. A preliminary graphical user interface was created to

demonstrate the line-of-sight algorithm (see figure 2.5). The user is able to enter the

locations of robot 1 and robot 2. The squares indicate the robot positions and the

collection of points represent obstacles. The points connecting the two robots are filled

in to indicate the line-of-sight path. This method was initially tested on a simple 20x20

grid but is easily applicable to larger areas.